Delta ASD-A2-0121 Series User Manual page 216

ASDA-A2 Chapter 6 Control Mode of Operation
When the value of proportional gain, KPP, is set too big, the bandwidth of position loop will be
increased and diminish the phase margin. And the motor rotor rotates vibrantly in forward and
reverse directions at the moment. Thus, KPP has to be decreased until the rotor stops vibrating.
When the external torque interrupts, the over-low KPP cannot meet the demand of position error.
In this situation, parameter P2-02 can effectively reduce the following error.
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